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European Radiology Experimental

Table 2 Needle placement accuracy: summary of 3D, lateral, and depth deviations

From: Robotic assistance for percutaneous needle insertion in the kidney: preclinical proof on a swine animal model

Parameter

n

Mean (SD)

Median (Q1; Q3)

Min; Max

LS Mean

[95% upper limit]

p value*

3D deviation (mm)

8

2.80 (1.31)

2.68 (1.75; 3.88)

1.18; 4.64

2.73 [0; 6.79]

0.0877

Lateral deviation (mm)

8

2.27 (1.18)

2.16 (1.40; 3.02)

0.74; 4.28

2.27 [0; 3.06]

0.0002

Depth deviation (mm)

8

0.70 (1.69)

1.02 (-0.42; 1.83)

-2.25; 2.99

0.70 [0; 1.83]

<.0001

  1. 3D Three-dimensional, Max Maximum, Min Minimum, Q1 Inferior quartile, Q3 Superior quartile, SD Standard deviation
  2. *p value for unilateral testing distance H0 >5 mm versus H1 ≤ 5 mm. Least square (LS) mean and 95% upper limit taking into account intra-animal and fiducial nested in animal variability structure
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